Abstract
This paper describes the trajectory control system, experiments and simulations of a two-ink planar arm with a free joint using an inertia rotor installed on tip end. The feedback acceleration of arm's joint angles using resolved acceleration control are applied to the dynamic equation of the free joint which means the coupling characteristics of arm's dynamics and the actuating angular acceleration are obtained from this procedure. The velocity-command-type servo system is developed by integrating these actuating angular accelerations. This system is shown to be effective from experiments of position control, sin and straight line trajectory controls. It is clarified that the inertia rotor mainly contributes to the control of the free joint angle.
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